NDLI: A Fault-Tolerant Fuzzy-Logic Based Redundancy Resolution Method for Underwater Mobile Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Soylu, S. Buckham, B.J. Podhorodeski, R.P.
Copyright Year	2007
Description	Author affiliation: Univ. of Victoria, Victoria (Soylu, S.; Buckham, B.J.; Podhorodeski, R.P.)
Abstract	In this work, a fault-tolerant redundancy resolution scheme is presented that allows a single 6-DOF command to be distributed over a small URVM system composed of an otherwise underactuated URV and serial manipulator. The URVM system admits an infinite number of joint-space solutions for each commanded end-effector state due to its inherent redundancy. The primary objective is realized using the right Moore-Penrose pseudoinverse solution. The secondary objectives are: avoiding manipulator joint limits, avoiding singularity and high joint velocity; keeping the end-effector in sight of the on-board camera minimizing the URV motion; and minimizing the drag-force resistance, or weathervaning. Each criterion is defined within the framework of the Gradient Projection Method. The hierarchy for the secondary tasks is established by a low-level artificial pilot that determines a weighting factor for each criterion based on if- then type fuzzy rules that reflect an expert human pilot's knowledge. A Mamdani fuzzy inference system is used to interpret the fuzzy rules based on the sensory knowledge. The resulting weight schedule yields a self-motion (null-space motion) that emulates how a skilled operator would utilize the full capabilities of the URVM to achieve the secondary objectives. The proposed redundancy resolution scheme has a fault-tolerant property. When a joint failure occurs, the scheme automatically redistributes the end-effector velocity command taking into account the faulty joints. To demonstrate the efficacy of the proposed scheme, several numerical simulations are performed The results illustrate the validity of the proposed redundancy scheme.
Starting Page	1
Ending Page	9
File Size	6091904
Page Count	9
File Format	PDF
ISBN	9780933957350
DOI	10.1109/OCEANS.2007.4449387
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Fault tolerance Redundancy Energy resolution Humans Fuzzy systems Robot kinematics Robotics and automation Surges Robustness Manipulator dynamics
Content Type	Text
Resource Type	Article

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